@article{goalconstrainedplanningdomainmodelformal,
  title = {Goal-constrained Planning Domain Model Verification of Safety Properties},
  author = {Anas Shrinah and Kerstin Eder},
  year = {2018},
  eprint = {1811.09231},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1811.09231v4},
}